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Underwater Visual Servoing simulation with UWSim

This video shows a visual servoing application where an I-AUV has to first align with an object before starting a manipulation action. Green crosses represent the perceived corners of the observed object, whereas red crosses show the desired pose. A 2D Visual Servoing control law (using ViSP) is executed in order to minimize the error between the current and the desired projection of the object in the image. The UWSim simulator is used to visualize the execution, and to provide images from a virtual camera, everything running into a ROS middleware.